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This paper provides a novel method towards imparting agility to the anguilliform robotic fish. The anguilliform robotic fishes are idealized to the real fishes using a series of N connected links to be closely approximated to their biological counterparts. To generate robot motion, torque are applied to the N-1 joints connecting any two consecutive links. There is high amount of interest among researchers...
This paper 1, presents a novel approach for realizing Carangiform fish swimming patterns by a robotic fish. A video recording system is first set up to capture real fish behaviors. From robotic perspective, three basic Carangiform fish swimming patterns, “cruise”, “cruise in turning”, and “C sharp turning”, are extracted. Base on observations, the mapping between the fish action parts (angular displacements)...
In this paper, a temporal probabilistic approach based on the hidden Markov model (HMM), named physically segmented HMM with continuous output, is introduced for continuous tool condition monitoring in machinery systems. The proposed approach has the advantage of providing an explicit relationship between the actual health states and the hidden state values. The provided relationship is further exploited...
In this paper, a single Hidden Semi-Markov Model (HSMM) approach is introduced for continuous health condition monitoring in machinery systems. Contrary to previous attempts in using hidden Markov models in this area which have not provided the relationship between the hidden state values and the physical states, this method provides the aforementioned relationship. In this paper, HSMM is applied...
In this paper, the modeling and control of a biomimetic robotic fish is presented. The Anguilliform robotic fish consists of N links and N−1 joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the dynamics of the fish model. The computed torque method is applied, which can provide satisfactory tracking responses...
This paper studies the spatial correlation in the sensing data gathered by densely deployed sensors. We first show that the joint entropy of a cluster of sensor nodes can be calculated through the covariance matrix of their readings when they are gaussian distributed. Then, two kinds of correlation patterns in the physical world are studied, and we show these two patterns have fundamental different...
In this paper we develop a dynamic model to mimic and simulate human falling process when tripping over an obstacle. The work consists of three parts. First a 5-link bipedal model is established, the joint trajectories of knee and hip are generated. Next several constraints are taken into consideration, which take the physical, physiological and environmental constraints into consideration. Hence...
It is a difficult task to create a realistic human animation because of the high complexity of human motion. To address this problem, a new method is presented for producing physically valid motion with example motions. The core of our method is physics-based space-time optimization (PBSO). PBSO introduces physical constraints into conventional space-time optimization and then ensure the physical...
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